Similar to 2D image detection, 3D methods can be grouped into two meta frameworks: region proposal methods [1]} and single shot methods [2]}. Region proposal based methods [3]}, [4]}, [5]} have two stages: the first stage proposes plausible regions containing objects, and the second stage extracts features from the proposed regions and uses them to produce detections. Single shot based methods [6]}, [7]}, [8]}, [9]} produce detections with a single stage network. In this work, we use a single shot approach since region proposal networks are often computationally expensive and minimizing latency is critical for a real-time autonomous system.
